Joystick control system for refuse vehicles

ABSTRACT

A joystick control system for a refuse vehicle includes multiple joystick input devices, and a single controller. The single controller is configured to receive a user input from one or more of the multiple joystick input devices. The controller is also configured to identify which of the joystick input devices provide the user input. The controller is also configured to generate control signals, in response to receiving the user input, for one or more controllable elements of the refuse vehicle based on which of the joystick input devices provides the user input and the user input. The controller is also configured to provide the control signals to the one or more controllable elements of the refuse vehicle to operate the one or more controllable elements of the refuse vehicle according to the user input.

CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

This application is a continuation of U.S. application Ser. No.16/851,229, filed Apr. 17, 2020, incorporated herein by reference in itsentirety, which claims the benefit of and priority to U.S. ProvisionalPatent Application No. 62/840,634, filed Apr. 30, 2019, incorporatedherein by reference in its entirety.

BACKGROUND

The present disclosure relates control systems for refuse vehicles. Moreparticularly, the present disclosure relates to joystick control systemsfor refuse vehicles.

SUMMARY

One implementation of the present disclosure is a joystick controlsystem for a refuse vehicle, according to an exemplary embodiment. Thejoystick control system includes multiple joystick input devices, and asingle controller. The single controller is configured to receive a userinput from one or more of the multiple joystick input devices. Thecontroller is also configured to identify which of the joystick inputdevices provide the user input. The controller is also configured togenerate control signals, in response to receiving the user input, forone or more controllable elements of the refuse vehicle based on whichof the joystick input devices provides the user input and the userinput. The controller is also configured to provide the control signalsto the one or more controllable elements of the refuse vehicle tooperate the one or more controllable elements of the refuse vehicleaccording to the user input.

Another implementation of the present disclosure is a refuse vehicle,according to an exemplary embodiment. The refuse vehicle includesmultiple controllable elements, and a joystick control system. Thejoystick control system includes multiple joystick input devices and acontroller. The controller is configured to receive a user input fromone or more of the multiple joystick input devices. The controller isalso configured to identify which of the joystick input devices providethe user input. The controller is also configured to generate controlsignals, in response to receiving the user input, for one or more of themultiple controllable elements based on which of the joystick inputdevices provide the user input and the user input. The controller isalso configured to provide the control signals to the controllableelements of the refuse vehicle to operate the controllable elementsaccording to the user input.

Another implementation of the present disclosure is a method foroperating multiple controllable elements of a refuse vehicle, accordingto an exemplary embodiment. The method includes receiving multiple userinputs from multiple joystick input devices. The method includes, foreach of the multiple user inputs, identifying, by a single controller,which of the plurality of joystick input devices provides the userinput. The method also includes identifying, by the single controller, acorresponding controllable element based on which of the plurality ofjoystick input devices provide the user input. The method also includesgenerating, by the single controller, a control signal for thecorresponding controllable element based on (a) which of the pluralityof joystick input devices provide the user input, and (b) the userinput. The method also includes operating the corresponding controllableelement using the control signal.

The invention is capable of other embodiments and of being carried outin various ways. Alternative exemplary embodiments relate to otherfeatures and combinations of features as may be recited herein.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosure will become more fully understood from the followingdetailed description, taken in conjunction with the accompanyingfigures, wherein like reference numerals refer to like elements, inwhich:

FIG. 1 is a block diagram of a joystick control system for a refusevehicle, according to some embodiments.

FIG. 2 is a block diagram of a joystick control system for a refusevehicle, according to some embodiments.

FIG. 3 is a flow diagram of a process for operating multiplecontrollable elements of a refuse vehicle with multiple joysticks and asingle controller, according to some embodiments.

DETAILED DESCRIPTION

Before turning to the figures, which illustrate the exemplaryembodiments in detail, it should be understood that the presentapplication is not limited to the details or methodology set forth inthe description or illustrated in the figures. It should also beunderstood that the terminology is for the purpose of description onlyand should not be regarded as limiting.

Referring generally to the FIGURES, a control system for a refusevehicle is shown. The control system includes a single controller (e.g.,a single computer) and two or more joystick input devices. The singlecontroller can receive user inputs from the various joystick inputdevices and, based on an identified one of the various joysticks thatgenerates the user inputs and associated operations, generate controlsignals for controllable elements of the refuse vehicle (e.g., a liftarm, a pump, a hydraulic motor, etc.). The single controller thenprovides the control signals to the controllable elements to operate therefuse vehicle to perform the operations requested by an operator.

Referring particularly to FIG. 1 , a joystick control system 10 for arefuse vehicle 18 is shown, according to some embodiments. Joystickcontrol system 10 can be implemented on a front loading refuse vehicle,a rear loading refuse vehicle, a side loading refuse vehicle, or anyother configured refuse vehicle. For example, joystick control system 10can be implemented on a front loading refuse vehicle that includes anintermediate collection device.

Joystick control system 10 includes joysticks 12, controller 100, andcontrollable elements 110, according to some embodiments. Joysticks 12can include any n number of joysticks (e.g., 2 joysticks, 1 joystick, 3joysticks, etc.). In some embodiments, joysticks 12 includes two or morejoystick input devices. Joysticks 12 can be any user input device thatincludes a stick or column that pivots relative to a base member andgenerates user input signals based on the pivoting/rotation of the stickrelative to the base member. Any of joysticks 12 can include anyadditional buttons, switches, triggers, levers, dials, etc., configuredto receive a user input. Joysticks 12 that include additional buttons,switches, triggers, levers, dials, etc., can provide user input signalsto controller 100 based on actuation of the various buttons, switches,etc.

Controller 100 is configured to receive user input signals fromjoysticks 12 and generate and provide control signals to controllableelements 110. Controllable elements 110 can represent any device,system, element, etc., of refuse vehicle 18 that joystick control system10 is configured to control. For example, controllable elements 110 caninclude loading arms, lift arms, articulated arms, a front loadingcontrol system, a side loading control system, an intermediate loadingsystem, an intermediate carry can, etc., and any of the primary movers,actuators, etc., of the various devices, systems, subsystems, etc.,(e.g., hydraulic pumps, hydraulic motors, electric motors, hydrauliccylinders, linear electric cylinders, etc.). Controllable elements 110can be any devices, apparatuses, systems, subsystems, etc., for loading,lifting, compacting, etc., refuse bins or containers into a hopper orcompartment of the refuse vehicle 18.

Each of joysticks 12 can be configured to operate any systems,subsystems, devices, operations of one or more systems, subsystems,etc., of the refuse vehicle 18. For example, joystick 1 can beconfigured to operate an intermediate loading system (e.g., anintermediate carry can), while joystick 2 may be configured to operatethe main loading system (e.g., front loading arms) of the refuse vehicle18. In further example, rotation/pivoting of the stick of joystick 1about a first axis or in a first direction can operate a first operationof the intermediate loading system, while rotation/pivoting of the stickof joystick 1 about a second axis or in a second direction can operateanother operation of the intermediate loading system (or of the mainloading system).

Controller 100 can include a communications interface 108.Communications interface 108 may facilitate communications betweencontroller 100 and external systems, devices, sensors, etc. (e.g.,controllable elements 110, joysticks 12, etc.) for allowing usercontrol, monitoring, and adjustment to any of the communicably connecteddevices, sensors, systems, primary movers, etc. Communications interface108 may also facilitate communications between controller 100 and ahuman machine interface. Communications interface 108 may facilitatecommunications between controller 100 and joysticks 12.

Communications interface 108 can be or include wired or wirelesscommunications interfaces (e.g., jacks, antennas, transmitters,receivers, transceivers, wire terminals, etc.) for conducting datacommunications with sensors, devices, systems, joysticks, etc., ofjoystick control system 10 or other external systems or devices (e.g., auser interface, an engine control unit, etc.). In various embodiments,communications via communications interface 108 can be direct (e.g.,local wired or wireless communications) or via a communications network(e.g., a WAN, the Internet, a cellular network, etc.). For example,communications interface 108 can include an Ethernet card and port forsending and receiving data via an Ethernet-based communications link ornetwork. In another example, communications interface 108 can include aWi-Fi transceiver for communicating via a wireless communicationsnetwork. In some embodiments, the communications interface is orincludes a power line communications interface. In other embodiments,the communications interface is or includes an Ethernet interface, a USBinterface, a serial communications interface, a parallel communicationsinterface, etc.

Communications interface 108 can be configured to serially communicatewith any of the n number of joysticks 12. In some embodiments,communications interface 108 includes a separate serial communicationsport for each of the n joysticks 12. For example, communicationsinterface 108 can include n number of USB ports (or Ethernet ports, orany other serial or parallel communications port) configured tocommunicably couple controller 100 with joysticks 12.

Controller 100 includes a processing circuit 102, a processor 104, andmemory 106, according to some embodiments. Processing circuit 102 can becommunicably connected to communications interface 108 such thatprocessing circuit 102 and the various components thereof can send andreceive data via the communications interface. Processor 104 can beimplemented as a general purpose processor, an application specificintegrated circuit (ASIC), one or more field programmable gate arrays(FPGAs), a group of processing components, or other suitable electronicprocessing components.

Memory 106 (e.g., memory, memory unit, storage device, etc.) can includeone or more devices (e.g., RAM, ROM, Flash memory, hard disk storage,etc.) for storing data and/or computer code for completing orfacilitating the various processes, layers and modules described in thepresent application. Memory 106 can be or include volatile memory ornon-volatile memory. Memory 106 can include database components, objectcode components, script components, or any other type of informationstructure for supporting the various activities and informationstructures described in the present application. According to someembodiments, memory 106 is communicably connected to processor 104 viaprocessing circuit 102 and includes computer code for executing (e.g.,by processing circuit 102 and/or processor 104) one or more processesdescribed herein.

Referring still to FIG. 1 , memory 106 can include a user input manager112, and a control signal generator 114. User input manager 112 canreceive any user input signals (e.g., Controller Area Network (CAN)signals) from joysticks 12 through communications interface 108. Userinput manager 112 can store information about each of joysticks 12 andtheir respective operations. For example, user input manager 112 canstore information regarding joystick 1, and which devices, systems,subsystems, operations, etc., of controllable elements 110 correspond tojoystick 1. Likewise, user input manager 112 can store informationregarding any of the n joysticks 12 and the various systems, subsystems,devices, operations, etc., associated with each of the n joysticks 12.In some embodiments, user input manager 112 stores a mapping (e.g., atable, a set of instructions, a database, etc.) that maps the variousjoysticks 12 with their respective systems, subsystems, devices,operations, etc. User input manager 112 can analyze any of the receivedCAN user input signals received from joysticks 12 to identify which ofjoysticks 12 the CAN user input signals are received from (e.g.,identifying a CAN address of each of joysticks 12).

User input manager 112 can provide control signal generator 114 with anindication regarding the user input signals and an identificationregarding which of the n joysticks 12 produces the user input signal.For example, user input manager 112 can provide control signal generator114 with the user input signals and the identification regarding whichjoystick 12 the user input signals were generated by, as well as anindication regarding the associated systems, devices, subsystems,operations, functions, etc., of controllable elements 110 for theparticular joystick 12.

Control signal generator 114 can receive the user input signals fromuser input manager 112, the identified joystick 12 that generated theuser input signals, and which devices, collections of devices, systems,subsystems, etc., of controllable elements 110 that correspond to theidentified joystick 12. Control signal generator 114 is configured togenerate control signals for the various controllable elements 110 thatcorrespond to joysticks 12. Control signal generator 114 can receive themapped functions, devices, subsystems, systems, etc., of the user inputsignals from user input manager 112 and generate control signals for theappropriate controllable elements 110 based on the user input signalsreceived from user input manager 112.

For example, joystick 1 can be configured to operate the intermediatelift apparatus/system, while joystick 2 is configured to operate themain lift apparatus/system. An operator can pivot or operate joystick 1to generate user input signals. The user inputs signals are provided tocontroller 100 through communications interface 108. Specifically, theuser input signals are provided to user input manager 112. User inputmanager 112 can receive the user input signals from joystick 1 throughcommunications interface 108 and identify which of joysticks 12generated the user input signals. User input manager 112 can identifythat the user input signals are received through a particularcommunications port and can identify that joystick 1 generated the userinput signals based on the particular communications port the user inputsignals are received through and using the mapping. In some embodiments,user input manager 112 analyzes the received signals to identify whichof joysticks 12 generated the user input signals. User input manager 112can provide the user input signals and/or the requested operations tocontrol signal generator 114. Control signal generator 114 then uses theidentified joystick (e.g., joystick 1) and the associated operations,systems, devices, subsystems, etc., to operate controllable elements 110to perform the operation requested by the operator.

Other control systems for refuse vehicles include a controller thatcorresponds to each joystick. For example, in such control systems, ifthree joysticks are implemented to operate various controllable elementsof the refuse vehicle, three separate computers are used. Some controlsystems user a single joystick with a switch to change what signals thejoystick sends to the computer. To be properly configured to controlrefuse vehicles with various systems of controllable elements (e.g.,lifting apparatuses, articulated arms, intermediate lift devices,loading devices, loading systems, etc.), these control systems requireadditional modification (e.g., either additional computers or additionalswitches).

Advantageously, joystick control system 10 can be used forrefuse/garbage collection vehicles with various uses, configurations,and/or applications. Joystick control system 10 is a single, unitarysystem, with a single controller 100 that can accommodate for thevarious use cases, configurations, and/or applications. Joystick controlsystem 10 can save time, reduce errors, and therefore save costsassociated with operating the refuse vehicle 18 and installing ormodifying the refuse vehicle's control system. For example, joystickcontrol system 10 can be used for a front end loader refuse collectionvehicle. Front end loader refuse collection vehicles can havemulti-use/multi-configurations, can be configured for residential refusecollection, or commercial refuse collection, or both. Front end loaderrefuse collection vehicles can also be used for recycling collection,garbage collection, organic waste collection, etc. Accordingly, thereare many different attachments, systems, subsystems, apparatuses,configurations, etc., of front end loader refuse collection vehicles. Inthis case, joystick control system 10 can be used with various joysticks12 to operate the various systems, apparatuses, sub-systems, etc., ofthe variously configured front end loader refuse vehicles. It should beunderstood, however, that joystick control system 10 can be used for anyrefuse collection vehicle and is not limited to only front end loaderrefuse collection vehicles.

Advantageously, joystick control system 10 provides a versatile controlsystem that can be easily modified, installed, and operated to control arefuse vehicle 18. Other control systems cannot be as easily modified,and require replacement or addition of computers, switches, etc.Joystick control system 10 facilitates addition and removal of joysticks12 to suit the specific configuration of the refuse vehicle 18. Otherrefuse collection vehicle control systems do not provide this advantage.Joystick control system 10 advantageously does not require additionalcomputers for additional joysticks and provides a more cost-effectiveand versatile control system.

Referring now to FIG. 2 , a joystick control system 20 includes a firstjoystick group 12 a, a second joystick group 12 b, and a third joystickgroup 12 c. Joystick control system 20 can be the same as or similar tojoystick control system 10. For example, joystick control system 20includes controller 100 that can be configured to perform any of theanalysis, control, etc., as controller 100 of joystick control system 10described in greater detail above with reference to FIG. 1 .

Joystick groups 12 a-12 c can each include any number of a variety ofjoysticks (e.g., one joystick, a plurality of joysticks, etc.). Forexample, joystick groups 12 a-12 c can include commercial joysticksconfigured to operate various controllable elements (e.g., arms/forks)of the refuse vehicle 18. Joystick group 12 a includes street-sidejoysticks configured to operate an apparatus of the refuse vehicle 18(shown as controllable elements 110). Joystick group 12 a can be a groupof joysticks that are positioned on a street-side of the refuse vehicle18. Joystick group 12 b includes curbside joysticks (e.g., positioned ona curb-side of the refuse vehicle 18) configured to operate theapparatus of the refuse vehicle 18. Joystick group 12 c includes bothstreet side and curbside joysticks configured to operate variousapparatuses of the refuse vehicle 18.

Referring still to FIG. 2 , joystick control system 20 includes a keypadgroup 14 and a selector 20. Keypad group 14 includes one or more keypadsconfigured to receive a user input to transition the refuse vehicle 18between various modes of operation. In some embodiments, controller 100adjusts an operation of controllable elements 110 differently based on aselected mode indicated by the operator through any of the keypads. Eachof the keypads can include a plurality of buttons that an operator canpress to transition the refuse vehicle 18 between variouspredetermined/predefined modes of operation.

In some embodiments, selector 20 is transitionable between a firstposition and a second position to activate or deactivate various ofjoystick groups 12 a-12 c. For example, when selector 20 is transitionedinto the first position, joystick group 12 a may be configured tooperate the apparatus of refuse vehicle 18 (shown as controllableelements 110 in FIG. 1 ). Likewise, when selector 20 is transitionedinto the second position, joystick group 12 b may be configured tooperate the apparatus of refuse vehicle 18 (shown as controllableelements 110 in FIG. 1 ). In this way, operation of selector 20 mayactivate or deactivate joystick group 12 a, joystick group 12 b, and/orjoystick group 12 c.

Controller 100 is configured to communicably connect with any ofjoystick groups 12 a-12 c, keypad group 14, and controllable elements110 through a Controlled Area Network (CAN) bus 16. In some embodiments,controller 100, joystick groups 12 a-12 c, keypad group 14, andcontrollable elements 110 are wiredly connected with CAN bus 16. In someembodiments, CAN bus 16 also facilitates communications between variousdevices, sensors, systems, subsystems, etc., of the refuse vehicle 18.

Referring particularly to FIG. 3 , a process 300 can be performed (e.g.,using controller 100) to provide a user-centric control system for arefuse vehicle. Process 300 can be performed so that a refuse vehiclewhich has multiple controllable elements (e.g., systems, sub-systems,devices, articulating arms, boom arms, loading mechanisms, etc.), andmultiple joysticks or input devices that are configured to operate thevarious controllable elements use a single controller, therebysimplifying a control scheme or control system for the multiplejoysticks and the multiple controllable elements.

Process 300 includes providing a joystick control system for a refusevehicle, the joystick control system including a single controller andmultiple joysticks (step 302), according to some embodiments. In someembodiments, the multiple joysticks are each configured to operate adifferent controllable element or controllable system of the refusevehicle. The multiple joysticks may be positioned within a cab of therefuse vehicle so that an operator may provide user inputs to thecontroller by the joysticks. The joysticks can each be communicablycoupled with the controller through a wired connection or a wirelessconnection. The controller can be a single processing unit, a singleprocessor, a processing circuit, etc. The controller may be controller100. The multiple joysticks may be joystick groups 12 a-12 c.

Process 300 includes receiving one or more user inputs from the multiplejoysticks at the controller (step 304), according to some embodiments.In some embodiments, the user inputs are provided by an operator of therefuse vehicle by adjusting or moving the joysticks. The adjustment ofthe joysticks may generate a signal (the user input) that is transferredfrom each of the joysticks to the controller.

Process 300 includes identifying which of the multiple joysticks providethe user inputs (step 306), according to some embodiments. In someembodiments, step 306 is performed by controller 100. The controller mayreceive multiple user inputs (e.g., the signals generated by theadjustment of the joysticks) at once. For example, the controller mayreceive a first user input signal u₁, a second user input signal u₂, athird user input signal u₃, etc. The controller can receive any n numberof user input signals, depending on a number of the joysticks, and whichof the multiple joysticks are adjusted or operated to provide a userinput to the controller. The controller may identify which user inputsignal is provided from which joystick by analyzing an identifier, atype of signal, a serial number, etc., that is provided with the userinput signals u. In some embodiments, the controller can identify whichof the multiple joysticks provide the user input signals by identifyingwhich of multiple connection ports or connection interfaces each userinput signal is received. For example, the controller may include amapping between a particular port, connection interface, etc., and acontrollable element, or a system of the refuse vehicle.

Process 300 includes identifying one or more controllable elements ofthe refuse vehicle that correspond to the joysticks that provide theuser inputs or provide the user input signals (step 308), according tosome embodiments. In some embodiments, step 308 includes using a mappingbetween each joystick and a corresponding controllable element, orsystem or actuator of the refuse vehicle. For example, the controllermay identify that the first joystick corresponds to a first controllableelement, the second joystick corresponds to a second controllableelement, the third joystick corresponds to a controllable system, etc.Step 308 can be performed by user input manager 112.

Process 300 includes generating control signals for the one or morecontrollable elements based on the one or more user inputs and which ofthe multiple joysticks provide the user inputs (step 310), according tosome embodiments. Step 310 can be performed by control signal generator114 using any of the functionality as described in greater detail abovewith reference to FIG. 1 . Step 310 can be performed by generatingcontrol signals for controllable elements 110 based on the user inputsor user inputs signals and a control scheme. The control signalsgenerated for each controllable element can be unique for eachcontrollable element. For example, the control signals for anarticulated arm of the refuse vehicle may be different than the controlsignals for a crusher or compacter of the refuse vehicle.

Process 300 includes operating the one or more controllable elements ofthe refuse vehicle using the generate control signals (step 312),according to some embodiments. The controller may provide the uniquecontrol signals to each of the identified controllable elements 110 sothat the controllable elements (e.g., actuators, motors, pump systems,valves, etc.) operate to perform functions as requested by the userinputs.

Advantageously, process 300 can be performed to provide a control orjoystick or user input device system that includes multiple user inputdevices which each control an operation of a corresponding one ofmultiple controllable elements, but with a single controller. This mayreduce costs associated with installing multiple controllers for eachjoystick or user input device (as other control systems do), andfacilitates a simplified control system for a refuse vehicle.

The present disclosure contemplates methods, systems, and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROMor other optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor. Wheninformation is transferred or provided over a network or anothercommunications connection (either hardwired, wireless, or a combinationof hardwired or wireless) to a machine, the machine properly views theconnection as a machine-readable medium. Thus, any such connection isproperly termed a machine-readable medium. Combinations of the above arealso included within the scope of machine-readable media.Machine-executable instructions include, for example, instructions anddata which cause a general purpose computer, special purpose computer,or special purpose processing machines to perform a certain function orgroup of functions.

As utilized herein, the terms “approximately”, “about”, “substantially”,and similar terms are intended to have a broad meaning in harmony withthe common and accepted usage by those of ordinary skill in the art towhich the subject matter of this disclosure pertains. It should beunderstood by those of skill in the art who review this disclosure thatthese terms are intended to allow a description of certain featuresdescribed and claimed without restricting the scope of these features tothe precise numerical ranges provided. Accordingly, these terms shouldbe interpreted as indicating that insubstantial or inconsequentialmodifications or alterations of the subject matter described and claimedare considered to be within the scope of the invention as recited in theappended claims.

It should be noted that the terms “exemplary” and “example” as usedherein to describe various embodiments is intended to indicate that suchembodiments are possible examples, representations, and/or illustrationsof possible embodiments (and such term is not intended to connote thatsuch embodiments are necessarily extraordinary or superlative examples).

The terms “coupled,” “connected,” and the like, as used herein, mean thejoining of two members directly or indirectly to one another. Suchjoining may be stationary (e.g., permanent, etc.) or moveable (e.g.,removable, releasable, etc.). Such joining may be achieved with the twomembers or the two members and any additional intermediate members beingintegrally formed as a single unitary body with one another or with thetwo members or the two members and any additional intermediate membersbeing attached to one another.

References herein to the positions of elements (e.g., “top,” “bottom,”“above,” “below,” “between,” etc.) are merely used to describe theorientation of various elements in the figures. It should be noted thatthe orientation of various elements may differ according to otherexemplary embodiments, and that such variations are intended to beencompassed by the present disclosure.

Also, the term “or” is used in its inclusive sense (and not in itsexclusive sense) so that when used, for example, to connect a list ofelements, the term “or” means one, some, or all of the elements in thelist. Conjunctive language such as the phrase “at least one of X, Y, andZ,” unless specifically stated otherwise, is otherwise understood withthe context as used in general to convey that an item, term, etc. may beeither X, Y, Z, X and Y, X and Z, Y and Z, or X, Y, and Z (i.e., anycombination of X, Y, and Z). Thus, such conjunctive language is notgenerally intended to imply that certain embodiments require at leastone of X, at least one of Y, and at least one of Z to each be present,unless otherwise indicated.

It is important to note that the construction and arrangement of thesystems as shown in the exemplary embodiments is illustrative only.Although only a few embodiments of the present disclosure have beendescribed in detail, those skilled in the art who review this disclosurewill readily appreciate that many modifications are possible (e.g.,variations in sizes, dimensions, structures, shapes and proportions ofthe various elements, values of parameters, mounting arrangements, useof materials, colors, orientations, etc.) without materially departingfrom the novel teachings and advantages of the subject matter recited.For example, elements shown as integrally formed may be constructed ofmultiple parts or elements. It should be noted that the elements and/orassemblies of the components described herein may be constructed fromany of a wide variety of materials that provide sufficient strength ordurability, in any of a wide variety of colors, textures, andcombinations. Accordingly, all such modifications are intended to beincluded within the scope of the present inventions. Othersubstitutions, modifications, changes, and omissions may be made in thedesign, operating conditions, and arrangement of the preferred and otherexemplary embodiments without departing from scope of the presentdisclosure or from the spirit of the appended claim.

What is claimed is:
 1. A joystick control system for a refuse vehicle,the system comprising: a plurality of joystick input devices comprising:a first group of joystick input devices, wherein the first group ofjoystick input devices are configured to operate an apparatus of therefuse vehicle when a selector switch is in a first position; and asecond group of joystick input devices, wherein the second group ofjoystick input devices are configured to operate the apparatus of therefuse vehicle when a selector switch is in a second position; and asingle controller configured to: receive a user input from one or moreof the plurality of joystick input devices; identify which of thejoystick input devices provide the user input; generate control signals,in response to receiving the user input; and provide the control signalsto the one or more controllable elements of the refuse vehicle tooperate the one or more controllable elements of the refuse vehicleaccording to the user input.
 2. The joystick control system of claim 1,wherein the plurality of joystick input devices are positioned within acab of the refuse vehicle.
 3. The joystick control system of claim 1,wherein the user inputs are user input signals, such as controller areanetwork (CAN) signals, generated at the plurality of joystick inputdevices.
 4. The joystick control system of claim 1, wherein one or moreof the plurality of joystick input devices are configured to operate oneor more controllable elements of the refuse vehicle, one or more of theplurality of joystick input devices are configured to operate a firstapparatus of the refuse vehicle, and one or more of the plurality ofjoystick input devices are configured to operate a second apparatus ofthe refuse vehicle.
 5. The joystick control system of claim 1, whereinthe control signals that are generated in response to receiving the userinput are generated for one or more controllable elements of the refusevehicle based on which of the joystick input devices provides the userinput and the user input.
 6. The joystick control system of claim 1,further comprising a keypad, wherein the keypad is configured to providea keypad user input to the single controller in response to a key press,the keypad user input comprising a command to transition the refusevehicle between a plurality of predetermined modes of operation.
 7. Thejoystick control system of claim 1, wherein the single controller isconfigured to receive the user inputs from the plurality of joystickinput devices through a controller area network (CAN) bus of the refusevehicle.
 8. A refuse vehicle comprising: a plurality of controllableelements; and a joystick control system comprising a plurality ofjoystick input devices and a controller, the plurality of joystick inputdevices comprising a first group of joystick input devices configured tooperate a first apparatus of the refuse vehicle, and a second group ofjoystick input devices configured to operate a second apparatus of therefuse vehicle, wherein the controller is configured to: receive a userinput from one or more of the plurality of joystick input devices;identify which of the joystick input devices provide the user input;generate control signals, in response to receiving the user input; andprovide the control signals to the controllable elements of the refusevehicle to operate the controllable elements according to the userinput.
 9. The refuse vehicle of claim 8, wherein the plurality ofjoystick input devices are positioned within a cab of the refusevehicle.
 10. The refuse vehicle of claim 8, wherein the user inputs areuser input signals, such as controller area network (CAN) signals,generated at the plurality of joystick input devices.
 11. The refusevehicle of claim 8, wherein one or more of the plurality of joystickinput devices are configured to operate one or more controllableelements of the refuse vehicle, one or more of the plurality of joystickinput devices are configured to operate a first apparatus of the refusevehicle, and one or more of the plurality of joystick input devices areconfigured to operate a second apparatus of the refuse vehicle.
 12. Thejoystick control system of claim 8, wherein the control signals that aregenerated in response to receiving the user input are generated for oneor more controllable elements of the refuse vehicle based on which ofthe joystick input devices provides the user input and the user input.13. The refuse vehicle of claim 8, further comprising a keypad, whereinthe keypad is configured to provide a keypad user input to the singlecontroller in response to a key press, the keypad user input comprisinga command to transition the refuse vehicle between a plurality ofpredetermined modes of operation.
 14. The refuse vehicle of claim 8,wherein the refuse vehicle comprises an intermediate carry canapparatus, the intermediate carry can apparatus comprising one or moreof the controllable elements, wherein at least one of the plurality ofjoysticks is configured to provide a user input to the controller andthe controller is configured to output control signals to the carry canapparatus to operate the carry can apparatus.
 15. A method for operatinga plurality of controllable elements of a refuse vehicle, the methodcomprising: receiving a plurality of user inputs from a plurality ofjoystick input devices, the plurality of joystick input devicescomprising: a first group of joystick input devices, wherein the firstgroup of joystick input devices are configured to operate an apparatusof the refuse vehicle when the first group of joystick input devices areactivated; and a second group of joystick input devices, wherein thesecond group of joystick input devices are configured to operate theapparatus of the refuse vehicle when the second group of joystick inputdevices are activated; and for each of the plurality of user inputs:identifying, by a single controller, which of the plurality of joystickinput devices provides the user input; identifying, by the singlecontroller, a corresponding controllable element based on which of theplurality of joystick input devices provide the user input; generating,by the single controller, a control signal for the correspondingcontrollable element; and operating the corresponding controllableelement using the control signal.
 16. The method of claim 15, whereinthe plurality of joystick input devices are positioned within a cab ofthe refuse vehicle.
 17. The method of claim 15, wherein the user inputsare user input signals, such as controller area network signals (CAN),generated at the plurality of joystick input devices and the singlecontroller is configured to receive the user inputs from the pluralityof joystick input devices through a CAN bus of the refuse vehicle. 18.The method of claim 15, wherein one or more of the plurality of joystickinput devices are configured to operate one or more controllableelements of the refuse vehicle, one or more of the plurality of joystickinput devices are configured to operate a first apparatus of the refusevehicle, and one or more of the plurality of joystick input devices areconfigured to operate a second apparatus of the refuse vehicle.
 19. Themethod of claim 15, wherein the control signal generated by the singlecontroller is based on (a) which of the plurality of joystick inputdevices provide the user input, and (b) the user input.
 20. The methodof claim 15, further comprising a keypad, wherein the keypad isconfigured to provide a keypad user input to the single controller inresponse to a key press, the keypad user input comprising a command totransition the refuse vehicle between a plurality of predetermined modesof operation.